I have written a tutorial on Test Driven Development (TDD) in ROS that I would like to share with you. The tutorial was addressed to the needs of my lab colleagues, so some parts are in rosbuild (we are still migrating to catkin). However, there are other parts that can be helpful to anyone who is starting to write their own tests. 

Slides:

Code examples: 

I hope you find it useful!

Best regards,

Victor Gonzalez-Pacheco

PhD Student.

RoboticsLab

Universidad Carlos III de Madrid

Leganés, Madrid

Spain